EP 3793081 A1 20210317 - VARIABLE BANDWIDTH ACTUATOR CONTROLLER
Title (en)
VARIABLE BANDWIDTH ACTUATOR CONTROLLER
Title (de)
AKTUATORSTEUERUNG MIT VARIABLER BANDBREITE
Title (fr)
ORGANE DE COMMANDE D'ACTIONNEUR À LARGEUR DE BANDE VARIABLE
Publication
Application
Priority
US 201916566421 A 20190910
Abstract (en)
A method is provided for controlling an actuator for moving a load. The method includes receiving a selected bandwidth, wherein bandwidth is defined as the frequency at which the gain of the closed loop input-output response is relative to the steady state value and is related to the reciprocal of response time, receiving a command to move the load to a selected position, receiving a feedback of measured motor position, estimating reaction torque or force associated with moving the load in real time, and estimating rotational motor speed and motor position. The method further includes calculating gain for controlling position of the load as a function of the selected bandwidth, wherein in the gain represents an adjustment of at least one of the estimated motor position, motor rotational speed, and reaction torque. The method further includes determining a drive signal to apply to the actuator motor as a function of the estimated reaction torque, the estimated rotational motor speed, the estimated motor position, the gain and the selected position and transmitting the drive signal to the actuator motor to move the load.
IPC 8 full level
H02P 21/13 (2006.01); H02P 6/08 (2016.01); H02P 6/17 (2016.01); H02P 21/00 (2016.01); H02P 21/14 (2016.01); F42B 10/00 (2006.01)
CPC (source: EP US)
G05B 6/02 (2013.01 - US); H02P 6/08 (2013.01 - EP); H02P 6/17 (2016.02 - EP); H02P 21/0003 (2013.01 - EP); H02P 21/13 (2013.01 - EP); H02P 21/14 (2013.01 - EP); B64C 13/50 (2013.01 - US); B64C 25/00 (2013.01 - US); F42B 10/62 (2013.01 - EP); H02P 6/28 (2016.02 - EP)
Citation (search report)
- [XAY] US 2019229653 A1 20190725 - OCHS DAVID S [US], et al
- [XA] US 2018262144 A1 20180913 - MIKLOSOVIC ROBERT J [US], et al
- [Y] US 2016134213 A1 20160512 - JEONG GOO JONG [KR]
- [A] US 6667597 B2 20031223 - FEDIGAN STEPHEN J [US], et al
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
DOCDB simple family (application)
EP 19214917 A 20191210; US 201916566421 A 20190910